CN102046041B - Electric toothbrush - Google Patents
Electric toothbrush Download PDFInfo
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- CN102046041B CN102046041B CN200980120238.5A CN200980120238A CN102046041B CN 102046041 B CN102046041 B CN 102046041B CN 200980120238 A CN200980120238 A CN 200980120238A CN 102046041 B CN102046041 B CN 102046041B
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- bristle
- electric toothbrush
- posture
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
- A61C17/16—Power-driven cleaning or polishing devices
- A61C17/22—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like
- A61C17/221—Control arrangements therefor
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- A—HUMAN NECESSITIES
- A46—BRUSHWARE
- A46B—BRUSHES
- A46B15/00—Other brushes; Brushes with additional arrangements
- A46B15/0002—Arrangements for enhancing monitoring or controlling the brushing process
- A46B15/0004—Arrangements for enhancing monitoring or controlling the brushing process with a controlling means
- A46B15/0006—Arrangements for enhancing monitoring or controlling the brushing process with a controlling means with a controlling brush technique device, e.g. stroke movement measuring device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
- A61C17/16—Power-driven cleaning or polishing devices
- A61C17/22—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like
- A61C17/32—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating
- A61C17/34—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating driven by electric motor
- A61C17/3409—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating driven by electric motor characterized by the movement of the brush body
- A61C17/3481—Vibrating brush body, e.g. by using eccentric weights
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Dentistry (AREA)
- Epidemiology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
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- Brushes (AREA)
Abstract
Disclosed is an electric toothbrush comprising an electric toothbrush main body (1) having a holding portion (14), a brush member (2) having a brush (20), a motor (10) for moving the brush (20), an actuator (40) for turning the brush (20) by rotating the brush member (2) relative to the main body (1), an acceleration sensor (15) for sensing the posture of the main body (1), and a CPU (120) for controlling the actuator (40) based on the sensed posture so that the brush angle is at the predetermined optimal value.
Description
Technical field
The present invention relates to electric toothbrush.
Background technology
Known to the brushed teeth electric toothbrush of type of (removing swill and tartar) of the bristle contact tooth that makes high-speed motion.In such electric toothbrush, bristle contacts with tooth with different angles, the cleaning effect difference of acquisition.For example make bristle contact in 90 degrees with respect to the tooth axle, can bring into play the scale removal power best to dental surface.In addition, if make bristle be 45 degree ground contacts with respect to the tooth axle, the hair front end of bristle is easy to enter between cog and oral pocket (between tooth and gums), can between cog and oral pocket, effectively brush out swill and tartar.
Like this, there is best brush angle (bristle is with respect to the angle of tooth axle) according to cleaning effect of polish-brush position or expectation etc.But most of user does not recognize the brush angle that has hope.Even recognize the brush angle, also, because can not confirm the actual situation about contacting with tooth of bristle in brushing teeth, so be difficult to make to brush angle, meet optimum value.
In addition, following technical scheme is disclosed in patent documentation 1, that is, minutes 4 grades or 8 grades detect toothbrush body around axle towards, infer the polish-brush position according to this testing result.Specifically, upwards be provided with the zone of a plurality of fan-shapeds in week in body interior, detect conducting sphere according to the variation of resistance and enter in which zone, infer thus toothbrush body towards.But such structure is difficult to miniaturization, lack implementation.
Patent documentation 1:JP JP 2005-152217 communique.
Summary of the invention
The problem that invention will solve
The object of the present invention is to provide a kind of technology that is easy to realize suitable brush angle in electric toothbrush.
For the means of dealing with problems
In order to achieve the above object, the present invention adopts following structure.
Electric toothbrush of the present invention has: the electric toothbrush main body, and it has handle part; Brush member, it has bristle; Driver element, it is for making described bristle motion; Rotary unit, it makes described brush member relatively rotate with respect to described electric toothbrush main body, with change described bristle towards; The posture detection unit, it detects the posture of described electric toothbrush main body; Control module, the described rotary unit of its ability of posture control based on detecting, making described bristle brush angle with respect to the angle of the tooth axle along tooth head and tooth root becomes the optimum value predetermined.
According to this structure, control and make the brush member automatic rotation according to the posture of electric toothbrush, make the brush angle become optimum value, thereby, can in polish-brush, be easy to realize suitable brush angle, obtain good cleaning effect.
At this, preferred described control module has: deduction unit, position, its posture based on detecting is from inferring by the polish-brush position of polish-brush by distinguishing the surperficial a plurality of positions that define of denture, brush deduction unit, angle, its posture based on detecting infers that described bristle brush angle with respect to the angle of tooth axle; Will be for each described polish-brush position and optimum value and the described brush angle of inferring at predefined brush angle compare, control described rotary unit, make the brush angle become described optimum value.
According to kind (upper jaw/lower jaw, molar/cutting etc.) and part (tongue side/cheek side, dental surface/occlusal surface, oral pocket etc.) difference of tooth, the adhesion mode of swill and tartar is different, thereby effectively brushes the angle difference for each position.In addition, even tooth of the same race is contrary with the way of contact of bristle with a left side on the right side of denture.Therefore, infer as the present invention the polish-brush position, according to this inferred results pilot brush angle suitably, can realize better cleaning effect.
Preferred described control module is corresponding to the described driver element of the ability of posture control detected, with the direction of motion or the motion frequency that changes described bristle.For example, when driver element is rotation motor, by the direction of rotation of switching rotation motor, or change rotating speed, can change the direction of motion or the motion frequency of bristle.
Pilot brush angle not only in this wise, the motion of going back pilot brush untrimmed book body, can realize better cleaning effect.
The output detections posture of preferred described posture detection unit based on acceleration transducer.
Thus, can judge accurately posture, can be than more deduction He Shua angle, polish-brush position, ground was decomposed in high accuracy and refinement in the past.In addition because acceleration transducer is small-sized, so in the electric toothbrush main body that also is easy to pack into.Can use the acceleration transducer of single shaft, but preferably the use multiaxis acceleration transducer of (diaxon, three axles, more than three axles).
Preferably also have notification unit, the situation that this notification unit is described optimum value to described brush angle is notified.Can improve usability thus.In addition, can utilize light, sound, voice, vibration etc. as Notification Method.
Preferably can change described optimum value.Can use neatly thus, for example when the scale removal power gone for, will brush angle and be set as 90 degree, when wanting between the teeth such as effective polish-brush oral pocket and gums, will brush angle and be set as 45 degree.
Preferred described control module is controlled described rotary unit so that described brush member after electric toothbrush is used or while bringing into use in predefined initial position.Thus, bristle under the state that departs from initial position, finish to brush teeth the time, also can make restoring to initial position until start to brush teeth next time towards automatic of bristle.Therefore, when starting to brush teeth, can reach more quickly best brush angle.
In addition, can mutually combine as much as possible each above-mentioned device and process formation the present invention.
The effect of invention
According to the present invention, be easy to realize suitable brush angle in electric toothbrush.
The accompanying drawing explanation
Fig. 1 is the block diagram of the electric toothbrush of the first embodiment.
Fig. 2 means the cutaway view of internal structure of the electric toothbrush of the first embodiment.
Fig. 3 means the stereogram of electric toothbrush outward appearance.
A in Fig. 4 and the B in Fig. 4 mean the figure of brush angle control by the structure of actuator.
Fig. 5 means the figure that distinguishes the polish-brush position.
Fig. 6 means the flow chart of the main procedure of electric toothbrush action.
Fig. 7 means the flow chart that posture detection is processed.
Fig. 8 is the flow chart of polish-brush position inference process (upper jaw).
Fig. 9 is the flow chart of polish-brush position inference process (lower jaw).
Figure 10 means the figure of an example of acceleration transducer output Ax, Ay, the Az at each polish-brush position of the upper jaw.
Figure 11 means the figure of an example of acceleration transducer output Ax, Ay, the Az at each polish-brush position of lower jaw.
Figure 12 means the figure of definition at the posture angle of electric toothbrush.
Figure 13 means the figure of the wave form varies that sensor output occurs along with the variation at brush angle.
Figure 14 is the figure at explanation brush angle.
Figure 15 means the cutaway view of internal structure of the electric toothbrush of the second embodiment.
Figure 16 means the cutaway view of internal structure of the electric toothbrush of the 3rd embodiment.
Figure 17 means the figure of the structure of the electrical connection section that utilizes the rectification brush and form.
Figure 18 means the figure of the structure of the electrical connection section that utilizes coil and form.
Figure 19 is the figure of the track of explanation bristle.
Figure 20 means the figure of the relation between the motion of brushing angle and bristle.
Figure 21 is the flow chart of the pattern hand-off process of the 5th embodiment.
Figure 22 is the figure of the posture detection of explanation the 6th embodiment.
Figure 23 is the figure of the automatic restoration disposal of explanation the 7th embodiment.
The specific embodiment
With reference to the accompanying drawings, describe illustratively the preferred embodiment of the present invention in detail.
The<the first embodiment >
(structure of electric toothbrush)
The structure of electric toothbrush is described with reference to Fig. 1, Fig. 2, Fig. 3.Fig. 1 is the block diagram of the electric toothbrush of the first embodiment, and Fig. 2 means the cutaway view of internal structure of the electric toothbrush of the first embodiment, and Fig. 3 means the stereogram of electric toothbrush outward appearance.
Electric toothbrush has: electric toothbrush main body 1 (following only be called " main body 1 "), and it has outer frame body 1a and internal frame body 1b; Brush member 2, it is arranged on the internal frame body 1b of main body 1.
The outer frame body 1a of main body 1 is formed by the resin-case that is the general cylindrical shape shape.Be provided with handle part 14 and the switch S etc. for making power supply switch on/cut off the power supply and carry out pattern switching etc. of the elastomeric material system for gripping for user's hand when brushing teeth on outer frame body 1a.
In addition, be provided with motor 10 as drive source, drive circuit 12 in the inside of the outer frame body 1a of main body 1, as the rechargeable battery 13 of 2.4V power supply, the coil (not shown) of charging use etc.When rechargeable battery 13 is charged, only main body 1 is placed on charger 100, just can charge non-contactly by electromagnetic induction.Drive circuit 12 has the memory 121, timer 122 of CPU (input and output handling part) 120, storage program and the various setting values of carrying out various computings and control etc.
(acceleration transducer)
Be provided with acceleration transducer 15 in the inside of main body 1.Acceleration transducer 15 both can use the acceleration transducer of multiaxis, also can use the acceleration transducer of single shaft.When acceleration transducer 15 uses 3-axis acceleration sensor, as shown in Figure 3, can be arranged to the x axle and be parallel to bristle face, the y axle is consistent with the length direction of main body 1, and the z axle is perpendicular to bristle face.Said " bristle face " refer to, substantially vertical with the hair (fiber) of bristle and be positioned at the imaginary plane of the fore-end of hair.When acceleration transducer 15 uses single-axis acceleration sensors, can be arranged to detect z direction of principal axis in Fig. 3 or the acceleration on the x direction of principal axis.In addition, in the present embodiment, use the 3-axis acceleration sensor of x, y, z.The output of acceleration transducer 15 inputs to CPU120, for detection of the three-dimensional posture of bristle.
Preferably utilize MEMS (MEMS:Micro-electromechanical Systems) sensor of piezoelectric electro resistance type, capacitance type or hot detection type as acceleration transducer 15.Because MEMS sensor is very little, so the inside of the main body 1 that is easy to pack into.But the form of acceleration transducer 15 is not limited to this, can utilize the sensors such as electrodynamic type, strain gage type, piezoelectric type.In addition, although diagram especially can be provided for the correction circuit that the temperature characterisitic, temperature drift etc. of balance (balance) to the sensitivity of the sensor of each axle, sensitivity are revised.In addition, can be provided for removing the bandpass filter (band pass filter) (low pass filter) of moving component of acceleration and noise.In addition, can smoothly reduce noise by the output waveform that makes acceleration transducer.
(driving mechanism of bristle)
The internal frame body 1b of main body 1 can be arranged on the member on outer frame body 1a with respect to outer frame body 1a with moving freely, has the outstanding axostylus axostyle 3 of peristome of the front (bristle side) be set to from outer frame body 1a.Described brush member 2 is mounted to and covers this axostylus axostyle 3.Front end at brush member 2 is provided with bristle 20.Brush member 2 is consumable component, thereby forms the structure that can freely load and unload with respect to axostylus axostyle 3 (internal frame body 1b), can be replaced by new brush member.
Axostylus axostyle 3 is to be formed and the member of the tubular of front end (end of bristle side) sealing by resinous wood, and the front end in cylinder inside has bearing 32.The front end of the eccentric shaft 30 be connected with the rotating shaft 11 of motor 10 inserts in the bearing 32 of axostylus axostyle 3.There is counterweight 31, its pivot of the deviation of gravity center of eccentric shaft 30 near the bearing 32 of eccentric shaft 30.CPU120 supplies with the driving signal (for example pulse width modulating signal) corresponding with pattern to motor 10, when the rotating shaft 11 that makes motor 10 rotates, eccentric shaft 30 also is rotated along with the rotation of rotating shaft 11, because the gravity center eccentric of eccentric shaft 30, so eccentric shaft 30 carries out round the motion of pivot rotation.Thus, the front end of eccentric shaft 30 applies small impact repeatedly to the inwall of bearing 32, thereby makes bristle 20 vibration at high speed (motion).That is to say, motor 10 plays the effect of the driver element that makes bristle vibration (motion), and eccentric shaft 30 plays the effect that the output of motor 10 (rotation) is transformed to the movement transferring (motion changing mechanism) of the vibration of bristle 20.
(rotating mechanism of brush member)
The electric toothbrush of present embodiment has actuator (rotary unit) 40, and this actuator 40 is for making brush member 2 relatively in rotary moving with respect to the outer frame body 1a of main body 1, with change bristle 20 around the y axle towards.The structure of actuator 40 has been shown in the A in Fig. 4 and the B in Fig. 4.A in Fig. 4 is the X-X cutaway view of the B in Fig. 4.
Preferably utilize the known rotary-type motors such as stepper motor as this actuator 40.In addition, because this actuator 40 is so long as can obtain the structure of rotation output and get final product, so also can utilize the cylindrical linear motor etc. of the fixture with arcuation.
As mentioned above, the electric toothbrush of present embodiment has for making motor 10 and 40 these the two kinds of actuators of the actuator towards (brush angle) for controlling bristle 20 of bristle 20 motions (vibration).For mutual difference, motor 10 is called to bristle driving actuator, actuator 40 is called to brush angle control actuator.
(action of electric toothbrush)
According to kind (upper jaw/lower jaw, molar/cutting etc.) and part (tongue side/cheek side, dental surface/occlusal surface, oral pocket etc.) difference of tooth, the adhesion mode of swill and tartar is different, thereby effectively brushes the angle difference for each position.In addition, even tooth of the same race is contrary with the way of contact of bristle at right half and the left half of denture.
Therefore, the posture of the bristle of the electric toothbrush of present embodiment based on detecting by acceleration transducer 15 is inferred the polish-brush position, and making to brush angle according to polish-brush position control actuator 40 becomes optimum value.
In the present embodiment, as shown in Figure 5, upper and lower denture is divided into to " upper jaw pregena side ", " tongue side before the upper jaw ", " the left cheek side of the upper jaw ", " the left tongue side of the upper jaw ", " the left occlusal surface of the upper jaw ", " the right cheek side of the upper jaw ", " the right tongue side of the upper jaw ", " the right occlusal surface of the upper jaw ", " lower jaw pregena side ", " tongue side before lower jaw ", " the left cheek side of lower jaw ", " the left tongue side of lower jaw ", " the left occlusal surface of lower jaw ", " the right cheek side of lower jaw ", " the right tongue side of lower jaw ", " the right occlusal surface of lower jaw " these 16 positions.But the differentiation of denture is not limited to this, can distinguish more roughly, also can distinguish more meticulously.
With reference to the flow chart in Fig. 6～Fig. 9, illustrate the flow process that the brush angle is controlled automatically.Fig. 6 is the flow chart of main procedure, and Fig. 7～Fig. 9 means the flow chart of each detailed content of processing of main procedure.In addition, in case of no particular description, the processing the following describes is the processing of being carried out according to program by the CPU120 as control module.
If the energising of the power supply of electric toothbrush, CPU120 control motor 10 starts to drive bristle 20 (S10).The processing of following S20～S60 just repeated every the constant time.For example, if the power cut-off of electric toothbrush or the perseveration time by the timer timing reach the stipulated time (2 minutes), the circulation of S20～S60 finishes (whether continuing: no), and CPU120 stops driving bristle 20 (S70).
(S20: the detection of posture)
In S20, the output of CPU120 based on acceleration transducer 15, the posture of detection electric toothbrush main body.Fig. 7 is that posture detection is processed the flow chart of (S20).
CPU120 obtains x, y, z output Ax, Ay, Az (S100) separately from acceleration transducer 15.Ax means the component of acceleration of x direction, and Ay means the component of acceleration of y direction, and Az means the component of acceleration of z direction.When toothbrush remains static (when on acceleration transducer 15, acceleration is not moved in effect), the resultant vector A of Ax, Ay, Az is equivalent to acceleration of gravity.At this, A=(Ax, Ay, Az) is called to the posture vector.
At this, when the value of posture vector A=(Ax, Ay, Az) is greater than 1.2g (g is acceleration of gravity) (S101: be), output error (S102).If this is because comprise a large amount of moving components of acceleration in acceleration transducer output, be difficult to correctly determine the direction (that is, the three-dimensional posture of bristle) of acceleration of gravity.In addition, in the situation that be not output error as S102, can repeatedly carry out the processing of S100 and S101 until obtain the value of resultant vector and become 1.2g following acceleration transducer output Ax, Ay, Az.In addition, the threshold value that mistake is judged is not limited to 1.2g, can be also other values.
(S30: the deduction at polish-brush position)
Fig. 8, Fig. 9 are the flow charts of polish-brush position inference process (S30).In addition, Figure 10, Figure 11 mean the figure of an example of acceleration transducer output Ax, Ay, the Az at each polish-brush position.
At first, the output Az of the acceleration transducer of CPU120 based on the z direction judges it is the upper jaw or lower jaw (S700).This judge based on, when the denture of the polish-brush upper jaw, how upward, when polish-brush lower jaw denture, how down bristle face for bristle face.In Az>0 o'clock, be judged to be lower jaw (S801), in Az≤0 o'clock, be judged to be the upper jaw (S701).
(1) situation of the upper jaw
The output Ay of the acceleration transducer of CPU120 based on the y direction determines whether it is nipper (S702).This judges that when the polish-brush molar, due to the interference with lip, toothbrush body 1 has to tilt based on, toothbrush body 1 comparison level when the polish-brush nipper.When Ay≤threshold value a, be judged to be upper jaw nipper (S703).
When being judged to be upper jaw nipper, it is cheek side or tongue side (S704) that the output Ax of the acceleration transducer of CPU120 based on the x direction judges.This judge based on, bristle is towards the opposite cheek side and tongue side.In Ax>0 o'clock, be judged to be " upper jaw pregena side " (S705), be judged to be " tongue side before the upper jaw " in Ax≤0 o'clock (S706).
On the other hand, when the S702 judgement is not upper jaw nipper, the output Ax of the acceleration transducer of CPU120 based on the x direction determines whether it is occlusal surface (S707).This judge based on, when the polish-brush occlusal surface, the bristle face approximate horizontal, the output of Ax is very little.When threshold value b>Ax>threshold value c, be judged to be " the left occlusal surface of the upper jaw or the right occlusal surface of the upper jaw " (S708).In addition, in the first embodiment, need not distinguish especially the left occlusal surface of the upper jaw and the right occlusal surface of the upper jaw.This is because when the polish-brush occlusal surface, and the necessity that changes the polish-brush action in left and right is little.
When Ax >=threshold value b or Ax≤threshold value c, CPU120 is by judging whether Ax is greater than 0 and judges cheek side or tongue side (S709).This judge based on, bristle is towards the opposite cheek side and tongue side.In Ax>0 o'clock, be judged to be " the right cheek side of the upper jaw or the left tongue side of the upper jaw " and (S710), in Ax≤0 o'clock, be judged to be " the left cheek side of the upper jaw or the right tongue side of the upper jaw " (S711).In addition, in the first embodiment, need not distinguish especially the right cheek side of the upper jaw and the left tongue side of the upper jaw.This is little because change the necessity at brush angle etc. between two positions.The left cheek side of the upper jaw and the right tongue side of the upper jaw are too.
(2) situation of lower jaw
The output Ay of the acceleration transducer of CPU120 based on the y direction determines whether it is nipper (S802).This judge based on, when the polish-brush nipper, body of the brush 1 comparison level, when the polish-brush molar, due to the interference with lip, toothbrush body 1 has to tilt.When Ay≤threshold value d, be judged to be lower jaw nipper (S803).
When being judged to be the lower jaw nipper, it is cheek side or tongue side (S804) that the output Ax of the acceleration transducer of CPU120 based on the x direction judges.This judge based on, bristle is towards the opposite cheek side and tongue side.In Ax<0 o'clock, be judged to be " lower jaw pregena side " and (S805), in Ax >=0 o'clock, be judged to be " tongue side before lower jaw " (S806).
On the other hand, when the S802 judgement is not the lower jaw nipper, the output Ax of the acceleration transducer of CPU120 based on the x direction determines whether it is occlusal surface (S807).This judge based on, when the polish-brush occlusal surface, the bristle face approximate horizontal, the output of Ax is very little.When threshold value e>Ax>threshold value f, be judged to be " the left occlusal surface of lower jaw or the right occlusal surface of lower jaw " (S808).In addition, in the first embodiment, need not distinguish especially the left occlusal surface of lower jaw and the right occlusal surface of lower jaw.This is because when the polish-brush occlusal surface, and the necessity that changes the polish-brush action in left and right is little.
When Ax >=threshold value e or Ax≤threshold value f, CPU120 is by judging whether Ax is greater than 0 and judges cheek side or tongue side (S809).This judge based on, bristle is towards the opposite cheek side and tongue side.In Ax>0 o'clock, be judged to be " the right cheek side of lower jaw or the left tongue side of lower jaw " and (S810), in Ax≤0 o'clock, be judged to be " the left cheek side of lower jaw or the right tongue side of lower jaw " (S811).In addition, in the first embodiment, need not distinguish especially the right cheek side of lower jaw and the left tongue side of lower jaw.This is little because change the necessity at brush angle etc. between two positions.The left cheek side of lower jaw or the right tongue side of lower jaw are too.
By above processing, current polish-brush position be defined as " upper jaw pregena side " (S705), " upper jaw before tongue side " (S706), " upper jaw occlusal surface " (S708), " the right cheek side of the upper jaw or the left tongue side of the upper jaw " (S710), " the left cheek side of the upper jaw or the right tongue side of the upper jaw " (S711), " lower jaw pregena side " (S805), " tongue side before lower jaw " (S806), " lower jaw occlusal surface " (S808), " the right cheek side of lower jaw or the left tongue side of lower jaw " (S810), " the left cheek side of lower jaw or the right tongue side of lower jaw " in (S811) one.
In addition, above-mentioned decision algorithm is an example, as long as can determine the polish-brush position according to output Ax, Ay, the Az of acceleration transducer, can be decision algorithm arbitrarily.Not for example that the value of Ax, Ay, Az directly is used as to decision variable, and use Ax, Ay, Az are carried out to 2 variablees that appropriate combination obtains in judgement.2 times variable for example can be set as arbitrarily Ay/Az, AxAx+AyAy, Az-Ax.Perhaps, after acceleration information Ax, Ay, the Az of each axle can being transformed to the angle information shown in Figure 12 (posture angle) α, β, γ, judge the polish-brush position.In the example of Figure 12, by the x axle, with respect to the viewpoint definition of acceleration of gravity direction, be roll angle α, by the y axle, with respect to the viewpoint definition of acceleration of gravity direction, be angle of inclination beta, by the z axle, with respect to the viewpoint definition of acceleration of gravity direction, be complementary angle γ.The threshold value of using in can determining according to the result of clinical testing etc. to judge.
(S40～S60: the control at brush angle)
In S40, the posture (output of acceleration transducer) of CPU120 based on detecting in S20 inferred the value at current brush angle.Said brush angle refers to the contact angle of bristle with respect to tooth axle (along the axle of tooth head and tooth root).But, in the inference process of S40, the anglec of rotation of calculating the internal frame body 1b that hypothesis produces by actuator 40 is the brush angle in 0 degree and the tooth axle situation consistent with gravity direction.In addition, at this angle of Range Representation brush with 0 degree～90 degree.
For example, can infer according to the component of acceleration Az of z direction the brush angle.This be because, as shown in figure 13, the value of Az is roughly 0 at the brush angle, to be about 90 Az while spending, the mode of the larger Az of value of the brush less Az in angle, according to the brush regular variation in angle.In addition, because the component of acceleration Ax of x direction also changes according to the brush angle, so can infer that the brush angle replaces Az according to Ax, preferably according to Ax and Az (direction of the resultant vector of Ax and Az), infer the brush angle.The brush angle can be both continuous quantity, can be also 0 degree～10 degree, 10 degree～20 degree ... such centrifugal pump.
The figure of the top of Figure 14 means to brush the state of angle=0 degree, and middle figure means to brush the state of angle=45 degree, and following figure means to brush the state of angle=90 degree.When the polish-brush occlusal surface, preferably brush angle and be about 0 degree.In addition, in the time will effectively brushing out swill and tartar from oral pocket or between cog, wish that the mode that bristle enters oral pocket or between cog with the hair front end of bristle moves, thereby preferably brush angle, be about 45 degree.On the other hand, at the brush angle, be 90 while spending, can bring into play best scale removal ability to dental surface.
Like this, can be according to the best brush angles of decision such as cleaning effect of polish-brush position or expectation.At this, the optimum value at the brush angle of " upper jaw occlusal surface " and " lower jaw occlusal surface " is set as to 0 degree, the optimum value at the brush angle of " the right cheek side of the upper jaw ", " the left tongue side of the upper jaw ", " the left cheek side of the upper jaw ", " the right tongue side of the upper jaw ", " the right cheek side of lower jaw ", " the left tongue side of lower jaw ", " the left cheek side of lower jaw ", " the right tongue side of lower jaw " is set as to 45 degree, the optimum value at the brush angle of " upper jaw pregena side ", " tongue side before the upper jaw ", " lower jaw pregena side ", " tongue side before lower jaw " is set as to 90 degree.These setting values are stored in memory 121.In addition, the optimum value at brush angle shown here is an example, optimum value can be set as to arbitrary value, and preferably the user can change into optimum value the value of expectation in addition.Further, can prepare a plurality of setting values in advance, as " scale removal pattern " and " oral pocket pattern ", if the user selects the scale removal pattern, at the polish-brush position except occlusal surface, automatically set the optimum value of " 45 degree ", if select the oral pocket pattern, at the polish-brush position except occlusal surface, automatically set the optimum value of " 90 degree ".
In S50, CPU120 compares the optimum value at the Shua angle, polish-brush position that obtains in the value at the current brush angle that obtains in S40 and S30, judges that whether the brush angle is suitable.In the situation that with a value definition optimum value as " 45 degree ", as long as estimate the difference of currency and optimum value.In the situation that with the definition of the number range as " 40 degree～50 degree " optimum value, as long as estimate currency whether in this number range.
At this, judging that, in the unsuitable situation in brush angle (S50: no), CPU120 adjusts brush angle (S60).Specifically, CPU120 obtains the difference of optimum value and currency, then to actuator 40, sends the control signal suitable with this difference (angle), makes brush member 2 rotations.Thus, control bristle 20 becomes optimum value towards making to brush angle.
According to the structure of above-mentioned present embodiment, control and make brush member 2 rotations so that the brush angle becomes optimum value according to the posture of electric toothbrush, thereby be easy to realize suitable brush angle in polish-brush, can obtain good cleaning effect.
The<the second embodiment >
Figure 15 shows the structure of the electric toothbrush of the second embodiment of the present invention.With the first embodiment difference, be to be provided with bearing 44 between outer frame body 1a and internal frame body 1b.According to this structure, can improve the positional stability of internal frame body 1b.In addition, because the position stability of internal frame body 1b, so can shorten the length of actuator 40 on axially, make 1 miniaturization of electric toothbrush main body.
The<the three embodiment >
Figure 16 shows the structure of the electric toothbrush of the 3rd embodiment of the present invention.In the first and second embodiments, via wire to motor 10 supply capabilities, and in the 3rd embodiment, via electrical connection section 45 from drive circuit 12 to motor 10 supply capabilities.
In the structure be connected by wire, for torsion and the broken string that prevents wire, need the rotating range of restriction actuator 40 between the motor 10 as shown in first, second embodiment and drive circuit 12.On the other hand, the electrical connection section 45 of present embodiment is how the anglec of rotation of no matter actuator 40 can both guarantee the electric power supply line of drive circuit side and the interelectrode circuit structure be electrically connected to of motor 10.For example needs make actuator 40 rotating 360 degrees with first-class situation under, be suitable for utilizing this structure.
Figure 17 schematically shows as an example of electrical connection section 45 circuit structure consisted of the rectification brush.According to such circuit structure, the contact position (regardless of the position relationship of internal frame body 1b and outer frame body 1a) regardless of the rectification brush, can both, from drive circuit 12 side direction motor 10 supply capabilities, make the electric current I of constant direction flow to motor 10.
Figure 18 schematically shows as an example of electrical connection section 45 circuit structure formed by coil.By such circuit structure, can be by electromagnetic induction from drive circuit 12 side direction motor 10 supply capabilities.
The<the four embodiment >
In the 4th embodiment, be provided with the function that notice brush angle is optimum value.Specifically, in the situation that the S50 by Fig. 6 is judged to be the brush angle is suitable, the illuminating part (LED etc.) that CPU120 makes to be arranged on outer frame body 1a is luminous.The user, by observing the illuminating state of illuminating part, is easy to hold the situation that the brush angle is optimum value.
At this, the difference of the optimum value at the polish-brush position obtained in the currency at the brush angle preferably obtained according to S40 and S30 changes advice method (glow color, light on and off type etc.).Thus, because adjust the situation (state of the correct set of main body 1) at brush angle and brush by 40 pairs of actuators the situation (state of the fault of main body 1) of being adjusted at angles and distinguished by actuator 40 not needing, so can allow the user learn correct posture.
In addition, Notification Method, except light, can also be used sound, vibration, voice etc.When using sound, can change according to difference size and the type of sound.When using vibration, can change oscillation intensity and length according to difference.When using voice, for example can notify the content as " 30 degree left and right more please tilt ", " please tilting a little ", " best brush angle ".
The<the five embodiment >
In the 5th embodiment, not only according to the posture detected, change the brush angle, also change the direction of motion (being specially the direction of rotation of motor 10) of bristle, the motion frequency (being specially the rotating speed of motor 10) of bristle.Other structures are identical with above-mentioned embodiment, therefore, below centered by the distinctive structure of present embodiment, describe.
(vibration characteristics)
As mentioned above, this electric toothbrush utilizes rotatablely moving of eccentric shaft to make bristle produce vibration, draws the mode of elliptoid track in the face of bristle 20 with the rotating shaft perpendicular to motor 10 and vibrates.People are by the vibration while changing frequency (motor rotary speed) observation analysis bristle in invention, find that this electric toothbrush has following vibration characteristics.
(1) bristle partly has at least two resonance points (resonant frequency).
(2) the resonance direction difference of each resonance point.Specifically, as shown in figure 19, (the first resonance: about 12500spm) upper, the amplitude be parallel on the x direction of principal axis of bristle face becomes large to the resonance point of a low side in frequency.The resonance point of a low side in frequency (the second resonance: about 38000spm) upper, become large perpendicular to the amplitude on the z direction of principal axis of bristle face.Outside resonance, for example, in the zone of (about 26500spm), bristle is drawn the track with respect to x axle (z axle) inclination (approximately 45 degree).In addition, " spm " means the unit of vibration number per minute.
The reason that a plurality of resonance that direction is different occur is likely structure and its drive principle due to electric toothbrush.Inventor people are tested repeatedly by the structure while changing eccentric shaft and bristle, show that the first resonance point mainly depends on movement transferring, and the second resonance point mainly depends on bristle.In other words, structure by changing movement transferring, shape (being simply the position of the counterweight of eccentric shaft, size, weight etc.) can be adjusted frequency and the amplitude of the first resonance point, in addition, by the structure that changes bristle, frequency and the amplitude that shape can be adjusted the second resonance point.
The figure of the top of Figure 20 means to brush the state of angle=45 degree, and the following figure of Figure 20 means to brush the state of angle=90 degree.In addition, the left side of Figure 20 means the state of motor forward, and right side means the state of motor reversion.And each arrow means the motion (direction of amplitude maximum) of bristle.Roughly situation is, bristle horizontal (x direction of principal axis) motion in the first resonance, vertically (z direction of principal axis) motion of bristle in the second resonance, middle bristle banking motion outside resonance.
In the time will effectively brushing out swill and tartar from oral pocket or between cog, the mode that can make bristle enter oral pocket or between cog with its mao of front end is moved.That is, the direction of motion of preferred bristle for example, with respect to the inclination of tooth axle (45 degree).Thereby, known in the example of Figure 20, at the brush angle, be 45 while spending, be most appropriate to the motion of the second resonance.On the other hand, the brush angle is 90 while spending, and in the right tongue side of lower jaw, is most appropriate to the outer motion of resonance of motor forward, and, in the right cheek side of lower jaw, is most appropriate to the outer motion of resonance of motor reversion.In addition, according to same idea, can determine the pattern (motor direction of rotation and bristle frequency) with corresponding the best of the combination at each Yu Shua angle, polish-brush position.
Figure 21 is the flow chart of the pattern hand-off process of present embodiment.This is processed in the rear execution such as S60 such as Fig. 6.
CPU120 compares by the He Shua angle, polish-brush position of brush angle (or the optimum value at brush angle) while processing with the last time obtained in the polish-brush position by obtaining in S30 and S40, confirms whether polish-brush position or brush angle variation (S1800) has occurred.He Shua angle, polish-brush position when in addition, the last time processes is stored in memory.
In the situation that (S1800: be) occurred to change in polish-brush position or brush angle, CPU120 judges current polish-brush position is with respect to which (S1801) in first group and second group, wherein, first group refers to " the left cheek side of lower jaw, the right tongue side of lower jaw, the left tongue side of the upper jaw, the right cheek side of the upper jaw ", and second group refers to " the right cheek side of lower jaw, the left tongue side of lower jaw, the right tongue side of the upper jaw, the left cheek side of the upper jaw ".Then, when being first group, CPU120 makes motor forward (S1802).When being second group, CPU120 makes motor reversion (S1803).Further, at the brush angle, be 45 while spending, CPU12 controls the frequency (S1804, S1805) of bristle in the mode of the second resonance (at a high speed), at the brush angle, be 90 while spending, and CPU12 controls the frequency (S1806) of bristle in the mode of resonate outer (middling speed).
According to the control of above-mentioned present embodiment, the motion of the bristle front end of information realization the best that can be based on He Shua angle, polish-brush position when polish-brush between cog or oral pocket, can further improve scale removal power.
In addition, in the present embodiment, control the direction of motion and the motion frequency of bristle, but preferably only control wherein any.For example, for the position of gum allergy, reduce motion frequency, weaken polish-brush intensity, on the contrary, for the position of the cleaning effect of having expected, improve motion frequency, strengthen polish-brush intensity.Thus, can improve cleaning effect and treatment sense.In addition, the vibrating mechanism of toothbrush is about the yz plane symmetry, thereby, when the direction of rotation reversion that makes motor, bristle is drawn the track about the yz plane symmetry.Therefore, can, according to the direction of rotation of polish-brush position switching motor, make the hair front end of bristle move in the direction that brushes out tartar from oral pocket.
The<the six embodiment >
The 6th embodiment adopts the structure of inferring He Shua angle, polish-brush position by the acceleration transducer of single shaft.
The state at the dental surface of polish-brush cheek side or tongue side that just illustrates of the top of Figure 22.Now, the brush angle (complementary angle γ) be about 90 degree, the x direction of principal axis component of acceleration of gravity be about 1g or-1g (the positive and negative left and right with denture is corresponding), the z direction of principal axis component of acceleration of gravity is roughly 0.On the other hand, following the illustrating just at the occlusal state of polish-brush of Figure 22.Now, brush angle (complementary angle γ) is roughly 0 degree, and the x direction of principal axis component of acceleration of gravity is roughly 0, the z direction of principal axis component of acceleration of gravity be about 1g or-1g (positive and negative with denture corresponding up and down).
If utilize such characteristic, only by the acceleration transducer of x axle or the acceleration transducer of z axle, just can differentiate " dental surface of cheek side or tongue side " or " occlusal surface ", thereby it is upper and lower further to differentiate left and right.And, identical with above-mentioned embodiment, can calculate the brush angle according to the acceleration transducer output of x axle or z axle.Inferred that the processing after He Shua angle, polish-brush position is identical with above-mentioned embodiment.
The<the seven embodiment >
The electric toothbrush of the 7th embodiment has after using electric toothbrush restores brush member concerning the automatic return function to initial position.Other structures are identical with above-mentioned embodiment.
As shown in the flow chart of Figure 23, for example, if make the power cut-off of electric toothbrush or the perseveration time by the timer timing reach the stipulated time (2 minutes) by switching manipulation, finish the circulation (whether continuing: no) of S20～S60, stop driving bristle (S70).Then, in S230, CPU120 controls actuator 40, makes the angle (bristle towards) of brush member 2 be returned as initial position (origin-location).In the present embodiment, by bristle face, the state (with reference to Fig. 2) towards switch S one side of electric toothbrush main body determines as initial position.
According to so automatic return function, in the situation that finish to brush teeth with the state towards departing from initial position of bristle, the restoring to initial position until the beginning of brushing teeth next time towards automatic of bristle.Therefore, while once brushing teeth, can reach more fast best brush angle on starting.
In addition, preferably make brush member return to the control of initial position detecting when electric toothbrush is placed on charger 100.In addition, consider after automatically stopping at power cut-off or by timer and likely at once start again to brush teeth, preferably after power cut-off etc. being detected for example, after the stipulated time (1 minute), brush member is restored to initial position.
In addition, in the present embodiment, after finishing to use electric toothbrush, carry out automatic restoration disposal, but, (for example, power supply when energising when bringing into use electric toothbrush, when charger 100 takes off electric toothbrush etc.) carry out automatic restoration disposal, also can obtain same action effect.
<other >
The structure of above-mentioned embodiment is only the structure exemplified with an object lesson of the present invention.Protection scope of the present invention is not limited to above-mentioned embodiment, can in the scope of its technological thought, carry out various distortion.For example, preferably mutually combine the structure of each above-mentioned embodiment.In addition, in above-mentioned embodiment, exemplified with the electric toothbrush of the mode of vibration of utilizing eccentrically mounted weight, but the present invention can be applicable to the electric toothbrush of other motion modes.For example, can be applicable to rotate reciprocating motion, straight reciprocating motion, bristle rotatablely moves and the electric toothbrush of these motions of switching combining.In addition, the present invention is not only applicable to rechargeable electric toothbrush, also be applicable to dry battery type with by being connected the electric toothbrush of the type that mains cord uses.
In addition, in order further to improve the posture detection precision of bristle and the deduction precision at ,Shua angle, polish-brush position, preferably according to acceleration transducer and the output of gyroscope (gyroscope), calculate the amount of movement and relative posture of bristle with respect to reference position.About reference position, both power supply energising posture constantly can be set as to reference position, perhaps, setting allow the user's input reference position position of polish-brush (start) structure (for example, the toothbrush body level and make bristle and the state of upper jaw pregena side contacts under push switch).Can carry out Second Order Integral by each the moving component of acceleration on the x direction of principal axis to output obtains according to acceleration transducer, y direction of principal axis, z direction of principal axis, calculate amount of movement (displacement).But, when calculating amount of movement, the coordinate system xyz of toothbrush can be transformed to and take the coordinate system XYZ (can take above-mentioned reference position as initial point) that the acceleration of gravity direction is Z axis.For example, for each clock pulses, calculate the displacement separately on X, Y, Z direction and accumulated, can calculate the relative position with respect to reference position (initial position) thus.Then, if known the relative position with respect to reference position, can be than above-mentioned embodiment more accurate and determine in more detail the polish-brush position.Further, also preferably utilize the azimuth information of the acquisitions such as Magnetic Sensor to calculate the position of bristle.In addition, when from acceleration transducer output, extracting moving component of acceleration out, can use the bandpass filters such as high-pass filter.Now, in order to remove the noise due to the generation of vibration of bristle, preferably filter the frequency content of the 100Hz suitable with the driving frequency of bristle～300Hz left and right.In addition, preferably, with the gyroscope combination, calculate more accurate amount of movement and moving direction.And, for nipper, according to gripping the difference of toothbrush body with which hand of left and right, the posture of bristle changes 180 degree, thereby the hand that can allow the user login to make (gripping the handy hand of toothbrush), according to the logined decision algorithm that the hand made changes the polish-brush position of getting well, or change pattern (motion of motor direction of rotation, bristle).
In addition, the minicam of fore-end that can be by being arranged on brush member 2, to being taken in oral cavity, is applied to this image information the posture detection of bristle.Further, can, at fore-end set temperature sensor or the optical sensor of brush member 2, each testing result be applied to the posture detection of bristle.
Claims (6)
1. an electric toothbrush is characterized in that having:
The electric toothbrush main body, it has handle part;
Brush member, it has bristle;
Driver element, it is for making described bristle motion;
Rotary unit, it makes described brush member relatively rotate with respect to described electric toothbrush main body, with change described bristle towards;
The posture detection unit, it detects the posture of described electric toothbrush main body;
Control module, the described rotary unit of its ability of posture control based on detecting, making described bristle brush angle with respect to the angle of the tooth axle along tooth head and tooth root becomes the optimum value predetermined
Described control module has:
Deduction unit, position, its posture based on detecting is from by distinguishing a plurality of positions that the denture surface define deduction by the polish-brush position of polish-brush,
Brush deduction unit, angle, its posture based on detecting infers that described bristle brush angle with respect to the angle of tooth axle;
Will be for each described polish-brush position and optimum value and the described brush angle of inferring at predefined brush angle compare, control described rotary unit, make the brush angle become described optimum value.
2. electric toothbrush as claimed in claim 1, is characterized in that, described control module is corresponding to the described driver element of the ability of posture control detected, with the direction of motion or the motion frequency that changes described bristle.
3. electric toothbrush as claimed in claim 1, is characterized in that, the output detections posture of described posture detection unit based on acceleration transducer.
4. electric toothbrush as claimed in claim 1, is characterized in that, also has notification unit, and the situation that this notification unit is described optimum value to described brush angle is notified.
5. electric toothbrush as claimed in claim 1, is characterized in that, can change described optimum value.
6. electric toothbrush as claimed in claim 1, is characterized in that, described control module is controlled described rotary unit so that described brush member after electric toothbrush is used or while bringing into use in predefined initial position.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008-144161 | 2008-06-02 | ||
| JP2008144161A JP5251265B2 (en) | 2008-06-02 | 2008-06-02 | electric toothbrush |
| PCT/JP2009/059986 WO2009148018A1 (en) | 2008-06-02 | 2009-06-01 | Electric toothbrush |
Publications (2)
| Publication Number | Publication Date |
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| CN102046041A CN102046041A (en) | 2011-05-04 |
| CN102046041B true CN102046041B (en) | 2014-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200980120238.5A Active CN102046041B (en) | 2008-06-02 | 2009-06-01 | Electric toothbrush |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US8341791B2 (en) |
| JP (1) | JP5251265B2 (en) |
| CN (1) | CN102046041B (en) |
| DE (1) | DE112009001137B4 (en) |
| RU (1) | RU2493760C2 (en) |
| WO (1) | WO2009148018A1 (en) |
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Also Published As
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| DE112009001137B4 (en) | 2021-10-14 |
| CN102046041A (en) | 2011-05-04 |
| US8341791B2 (en) | 2013-01-01 |
| RU2493760C2 (en) | 2013-09-27 |
| DE112009001137T5 (en) | 2011-04-07 |
| RU2010153356A (en) | 2012-07-20 |
| JP2009285416A (en) | 2009-12-10 |
| JP5251265B2 (en) | 2013-07-31 |
| US20110041269A1 (en) | 2011-02-24 |
| WO2009148018A1 (en) | 2009-12-10 |
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